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Se/7 26 #21

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merged 3 commits into from
Jul 28, 2024
Merged

Se/7 26 #21

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700667c
gives extra time before arm automatically goes back to feed after amping
IanShiii Jul 27, 2024
52d42e4
buzz controller to indicate no note detected, add deadband for swerve…
IanShiii Jul 27, 2024
fdcee0c
interpolated lob ferry
IanShiii Jul 27, 2024
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9 changes: 6 additions & 3 deletions src/main/java/com/stuypulse/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -123,23 +123,26 @@ private void configureButtonBindings() {
.onFalse(new ShooterSetRPM(new ShooterSpeeds()).onlyIf(() -> !Settings.Shooter.ALWAYS_KEEP_AT_SPEED));

driver.getTopButton()
.onTrue(new ArmToSpeaker());
.onTrue(new ArmToSpeaker())
.onTrue(new BuzzController(driver).onlyIf(() -> !Shooter.getInstance().hasNote()));

driver.getTopButton()
.debounce(Settings.Driver.HOLD_TO_OVERRIDE_TIME)
.onTrue(new ArmEnableOverride())
.onFalse(new ArmDisableOverride());

driver.getLeftButton()
.onTrue(new ArmToAmp());
.onTrue(new ArmToAmp())
.onTrue(new BuzzController(driver).onlyIf(() -> !Shooter.getInstance().hasNote()));

driver.getLeftButton()
.debounce(Settings.Driver.HOLD_TO_OVERRIDE_TIME)
.onTrue(new ArmEnableOverride())
.onFalse(new ArmDisableOverride());

driver.getRightButton()
.whileTrue(new ArmToFerry());
.whileTrue(new ArmToFerry())
.onTrue(new BuzzController(driver).onlyIf(() -> !Shooter.getInstance().hasNote()));

driver.getRightButton()
.debounce(Settings.Driver.HOLD_TO_OVERRIDE_TIME)
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2 changes: 1 addition & 1 deletion src/main/java/com/stuypulse/robot/commands/shooter/ShooterScoreAmp.java
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ public ShooterScoreAmp() {
addCommands(
new ShooterFeederDeacquire(),
new WaitUntilCommand(() -> !Shooter.getInstance().hasNote()),
new WaitUntilCommand(Settings.Arm.SHOULD_RETURN_TO_FEED_TIME.get()),
new WaitUntilCommand(Settings.Arm.SHOULD_RETURN_TO_FEED_TIME),
new ShooterFeederStop()
);
}
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5 changes: 4 additions & 1 deletion src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,10 @@ public SwerveDriveDrive(Gamepad driver) {

this.driver = driver;

drive = new SwerveRequest.FieldCentric().withDriveRequestType(DriveRequestType.OpenLoopVoltage);
drive = new SwerveRequest.FieldCentric()
.withDeadband(Settings.Swerve.MAX_LINEAR_VELOCITY * Settings.Driver.Drive.DEADBAND.get())
.withRotationalDeadband(Settings.Swerve.MAX_ANGULAR_VELOCITY * Settings.Driver.Turn.DEADBAND.get())
.withDriveRequestType(DriveRequestType.OpenLoopVoltage);

addRequirements(swerve);
}
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15 changes: 8 additions & 7 deletions src/main/java/com/stuypulse/robot/constants/Settings.java
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Original file line number Diff line number Diff line change
Expand Up @@ -56,22 +56,23 @@ public static RobotType fromString(String serialNum) {
public interface Arm {
double LENGTH = Units.inchesToMeters(16.5);

SmartNumber MAX_VELOCITY = new SmartNumber("Arm/Max Velocity (deg/s)", 425);
SmartNumber MAX_ACCELERATION = new SmartNumber("Arm/Max Acceleration (deg/s^2)", 450);
SmartNumber MAX_VELOCITY = new SmartNumber("Arm/Max Velocity (deg/s)", 400);
SmartNumber MAX_ACCELERATION = new SmartNumber("Arm/Max Acceleration (deg/s^2)", 425);

SmartNumber MAX_ANGLE = new SmartNumber("Arm/Max Angle (deg)", 100);
SmartNumber MIN_ANGLE = new SmartNumber("Arm/Min Angle (deg)", -90 + 12.25);

SmartNumber MAX_ANGLE_ERROR = new SmartNumber("Arm/Max Angle Error", 2);
SmartNumber MAX_ANGLE_ERROR = new SmartNumber("Arm/Max Angle Error", 2.5);

SmartNumber AMP_ANGLE = new SmartNumber("Arm/Amp Angle", 70);
SmartNumber LOW_FERRY_ANGLE = new SmartNumber("Arm/Low Ferry Angle", -50);
SmartNumber LOB_FERRY_ANGLE = new SmartNumber("Arm/Lob Ferry Angle", 50);
SmartNumber PRE_CLIMB_ANGLE = new SmartNumber("Arm/Pre climb angle", 80);
SmartNumber FEED_ANGLE = new SmartNumber("Arm/Feed Angle", MIN_ANGLE.getAsDouble() + 16);
SmartNumber FEED_ANGLE = new SmartNumber("Arm/Feed Angle", MIN_ANGLE.getAsDouble() + 17);
SmartNumber PODIUM_SHOT_ANGLE = new SmartNumber("Arm/Podium Shot Angle", -60);

SmartNumber SHOULD_RETURN_TO_FEED_TIME = new SmartNumber("Arm/Return To Feed Time", 1.0);
double SHOULD_RETURN_TO_FEED_TIME = 1.0;
double EXTRA_TIME_BEFORE_RETURNING_TO_FEED_FOR_AMP = 2.5;

SmartNumber BUMP_SWITCH_DEBOUNCE_TIME = new SmartNumber("Arm/Bump Switch Debounce Time", 0.02);

Expand Down Expand Up @@ -331,7 +332,7 @@ public interface Driver {
double DOUBLE_CLICK_TIME_BETWEEN_CLICKS = 0.5;

public interface Drive {
SmartNumber DEADBAND = new SmartNumber("Driver Settings/Drive/Deadband", 0.03);
SmartNumber DEADBAND = new SmartNumber("Driver Settings/Drive/Deadband", 0.015);

SmartNumber RC = new SmartNumber("Driver Settings/Drive/RC", 0.01);
SmartNumber POWER = new SmartNumber("Driver Settings/Drive/Power", 2);
Expand All @@ -341,7 +342,7 @@ public interface Drive {
}

public interface Turn {
SmartNumber DEADBAND = new SmartNumber("Driver Settings/Turn/Deadband", 0.03);
SmartNumber DEADBAND = new SmartNumber("Driver Settings/Turn/Deadband", 0.015);

SmartNumber RC = new SmartNumber("Driver Settings/Turn/RC", 0.05);
SmartNumber POWER = new SmartNumber("Driver Settings/Turn/Power", 2);
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15 changes: 13 additions & 2 deletions src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,6 @@
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandScheduler;

public class ArmImpl extends Arm {

Expand All @@ -41,6 +40,7 @@ public class ArmImpl extends Arm {
private final MotionProfile motionProfile;

private final BStream shouldGoBackToFeed;
private final BStream shouldGoBackToFeedFromAmp;

protected ArmImpl() {
super();
Expand Down Expand Up @@ -69,6 +69,11 @@ protected ArmImpl() {

shouldGoBackToFeed = BStream.create(() -> !Shooter.getInstance().hasNote())
.filtered(new BDebounce.Rising(Settings.Arm.SHOULD_RETURN_TO_FEED_TIME));

shouldGoBackToFeedFromAmp = BStream.create(shouldGoBackToFeed)
.filtered(new BDebounce.Rising(Settings.Arm.EXTRA_TIME_BEFORE_RETURNING_TO_FEED_FOR_AMP))
.and(BStream.create(() -> !overriding)
.filtered(new BDebounce.Rising(Settings.Arm.EXTRA_TIME_BEFORE_RETURNING_TO_FEED_FOR_AMP)));
}

@Override
Expand Down Expand Up @@ -184,7 +189,13 @@ public void periodic() {
this.actualState = this.requestedState;
}
else if (shouldGoBackToFeed.get()) {
if (actualState != State.FEED) {
if (actualState == State.AMP) {
if (shouldGoBackToFeedFromAmp.get()) {
requestedState = State.FEED;
actualState = State.FEED;
}
}
else if (actualState != State.FEED) {
requestedState = State.FEED;
actualState = State.FEED;
}
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36 changes: 33 additions & 3 deletions src/main/java/com/stuypulse/robot/util/ShooterLobFerryInterpolation.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,9 +14,39 @@ public static void main(String[] args) {
// RPM, distance (inches)
private static final double[][] RPMAndDistance = {
// fake data im just putting here so it doesnt crash lol
{1000, 55.5},
{1000, 42.5},
{1000, 57},
{3100,382},
{3100,292},
{3100,337},
{3100,337},
{3100,290},
{3100,300},
{3200,335},
{3200,349},
{3200,337},
{3200,339},
{3300,379},
{3300,384},
{3300,389},
{3300,373},
{3300,354},
{3500,389},
{3500,331},
{2500,238},
{2500,233},
{2500,259},
{2000,169},
{2500,288},
{2000,164},
{2000,191},
{1500,109},
{1500,109},
{1500,108},
{1500,105},
{1200,79},
{1200,82},
{1200,67},
{1200,69},
{1200,64},
};

static {
Expand Down
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